How to set up a MC multiplayer survival server?

I've tried many times to set up a Minecraft multiplayer server and have always failed. Me and my friends have a youtube account and we want to do multiplayer survival on, but sadly we can't unless I can figure this out. My friend has made some using some' 'free server hosting' website but that's really not ideal, because it's only online at certain times and there's other complications to that too, like only being able to use it at certain times. I've watched a load of youtube tutorials and none seem to work for me, so could any of you either give me step by step instructions, a video link or a page link (that is sure to work) on how to make a multiplayer survival server, that me and my friends will own and not have to use some website? Also don't suggest MC realms because we don't have any money. Thanks.

Added (1). Hi again guys. I'd like to thank Kevin for his answer, but the problem is, I'm basically a noob at this sort of stuff. I won't say I don't know how to use computers, because that's not true, but I've not exactly got an IT degree either. I'm kinda looking for a simply-ish explanation. So I don't really know much about the terminology, like 'port-forward' or 'IP address'.

You need to port forward your router. Then download a Minecraft server exe and set the IP to the IP of your router. Alternatively, use Hamachi to set up a server.